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<div class="title">gaussian.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_GAUSSIAN_KERNEL</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_GAUSSIAN_KERNEL</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;boost/function.hpp&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html">   57</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_gaussian_kernel.html">GaussianKernel</a></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html">GaussianKernel</a> () {}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> MAX_KERNEL_WIDTH = 71;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#a1c5984a5ba78f8277a03eea307dfda2b">   72</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#a1c5984a5ba78f8277a03eea307dfda2b">compute</a> (<span class="keywordtype">float</span> sigma, </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;               Eigen::VectorXf &amp;<a class="code" href="classpcl_1_1kernel.html">kernel</a>,</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;               <span class="keywordtype">unsigned</span> kernel_width = MAX_KERNEL_WIDTH) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#a663729cdfd1e440563030e29215f128b">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#a663729cdfd1e440563030e29215f128b">compute</a> (<span class="keywordtype">float</span> sigma, </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;               Eigen::VectorXf &amp;<a class="code" href="classpcl_1_1kernel.html">kernel</a>, </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;               Eigen::VectorXf &amp;derivative, </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;               <span class="keywordtype">unsigned</span> kernel_width = MAX_KERNEL_WIDTH) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#ad01d1002116c470278a9f4e4330eed6f">   98</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#ad01d1002116c470278a9f4e4330eed6f">convolveRows</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;input,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                    <span class="keyword">const</span> Eigen::VectorXf &amp;<a class="code" href="classpcl_1_1kernel.html">kernel</a>,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;     <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;     convolveRows (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;input,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                   boost::function &lt;<span class="keywordtype">float</span> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)&gt; field_accessor,</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                   <span class="keyword">const</span> Eigen::VectorXf &amp;<a class="code" href="classpcl_1_1kernel.html">kernel</a>,</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                   <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#a13fed06781b7735db1d9461a1c507305">  124</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#a13fed06781b7735db1d9461a1c507305">convolveCols</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;input,</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                    <span class="keyword">const</span> Eigen::VectorXf &amp;<a class="code" href="classpcl_1_1kernel.html">kernel</a>,</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      convolveCols (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;input,</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                    boost::function &lt;<span class="keywordtype">float</span> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)&gt; field_accessor,</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                    <span class="keyword">const</span> Eigen::VectorXf &amp;<a class="code" href="classpcl_1_1kernel.html">kernel</a>,</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#a48fcd11627d7597a27ce4f8984c9dea0">  151</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#a48fcd11627d7597a27ce4f8984c9dea0">convolve</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;input,</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                <span class="keyword">const</span> Eigen::VectorXf &amp;horiz_kernel,</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                <span class="keyword">const</span> Eigen::VectorXf &amp;vert_kernel,</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;&gt;&gt;&gt; convolve cpp&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> tmp (input.width, input.height) ;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        convolveRows (input, horiz_kernel, tmp);        </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        convolveCols (tmp, vert_kernel, output);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;&lt;&lt;&lt; convolve cpp&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#a488e6649dba1a82fcdf9414ac8aa58bc">  173</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#a488e6649dba1a82fcdf9414ac8aa58bc">convolve</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;input,</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                boost::function &lt;<span class="keywordtype">float</span> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)&gt; field_accessor,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                <span class="keyword">const</span> Eigen::VectorXf &amp;horiz_kernel,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                <span class="keyword">const</span> Eigen::VectorXf &amp;vert_kernel,</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;&gt;&gt;&gt; convolve hpp&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> tmp (input.width, input.height);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        convolveRows&lt;PointT&gt;(input, field_accessor, horiz_kernel, tmp);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        convolveCols(tmp, vert_kernel, output);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;&lt;&lt;&lt; convolve hpp&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#ae9d18071f99654164697503aa823d081">  197</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#ae9d18071f99654164697503aa823d081">computeGradients</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;input,</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                        <span class="keyword">const</span> Eigen::VectorXf &amp;gaussian_kernel,</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                        <span class="keyword">const</span> Eigen::VectorXf &amp;gaussian_kernel_derivative,</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;grad_x,</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;grad_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        convolve (input, gaussian_kernel_derivative, gaussian_kernel, grad_x);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        convolve (input, gaussian_kernel, gaussian_kernel_derivative, grad_y);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#aabf2e68d86f1b5628a9976ac8a83ab47">  219</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#aabf2e68d86f1b5628a9976ac8a83ab47">computeGradients</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;input,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                        boost::function &lt;<span class="keywordtype">float</span> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)&gt; field_accessor,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                        <span class="keyword">const</span> Eigen::VectorXf &amp;gaussian_kernel,</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                        <span class="keyword">const</span> Eigen::VectorXf &amp;gaussian_kernel_derivative,</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;grad_x,</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                        <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;grad_y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        convolve&lt;PointT&gt; (input, field_accessor, gaussian_kernel_derivative, gaussian_kernel, grad_x);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        convolve&lt;PointT&gt; (input, field_accessor, gaussian_kernel, gaussian_kernel_derivative, grad_y);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#a969fb903ac4abd105fead44ed59cfb49">  238</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#a969fb903ac4abd105fead44ed59cfb49">smooth</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;input,</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;              <span class="keyword">const</span> Eigen::VectorXf &amp;gaussian_kernel,</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;              <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        convolve (input, gaussian_kernel, gaussian_kernel, output);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1_gaussian_kernel.html#a4ed8cb8b338735612d4e33a2f035aad9">  254</a></span>&#160;      <a class="code" href="classpcl_1_1_gaussian_kernel.html#a4ed8cb8b338735612d4e33a2f035aad9">smooth</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;input,</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;              boost::function &lt;<span class="keywordtype">float</span> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)&gt; field_accessor,</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;              <span class="keyword">const</span> Eigen::VectorXf &amp;gaussian_kernel,</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;              <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;float&gt;</a> &amp;output)<span class="keyword"> const</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        convolve&lt;PointT&gt; (input, field_accessor, gaussian_kernel, gaussian_kernel, output);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  };</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;}</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/gaussian.hpp&gt;</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_GAUSSIAN_KERNEL</span></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html">pcl::GaussianKernel</a></div><div class="ttdef"><b>Definition:</b> gaussian.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_a13fed06781b7735db1d9461a1c507305"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#a13fed06781b7735db1d9461a1c507305">pcl::GaussianKernel::convolveCols</a></div><div class="ttdeci">void convolveCols(const pcl::PointCloud&lt; float &gt; &amp;input, const Eigen::VectorXf &amp;kernel, pcl::PointCloud&lt; float &gt; &amp;output) const</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_a1c5984a5ba78f8277a03eea307dfda2b"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#a1c5984a5ba78f8277a03eea307dfda2b">pcl::GaussianKernel::compute</a></div><div class="ttdeci">void compute(float sigma, Eigen::VectorXf &amp;kernel, unsigned kernel_width=MAX_KERNEL_WIDTH) const</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_a488e6649dba1a82fcdf9414ac8aa58bc"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#a488e6649dba1a82fcdf9414ac8aa58bc">pcl::GaussianKernel::convolve</a></div><div class="ttdeci">void convolve(const pcl::PointCloud&lt; PointT &gt; &amp;input, boost::function&lt; float(const PointT &amp;p)&gt; field_accessor, const Eigen::VectorXf &amp;horiz_kernel, const Eigen::VectorXf &amp;vert_kernel, pcl::PointCloud&lt; float &gt; &amp;output) const</div><div class="ttdef"><b>Definition:</b> gaussian.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_a48fcd11627d7597a27ce4f8984c9dea0"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#a48fcd11627d7597a27ce4f8984c9dea0">pcl::GaussianKernel::convolve</a></div><div class="ttdeci">void convolve(const pcl::PointCloud&lt; float &gt; &amp;input, const Eigen::VectorXf &amp;horiz_kernel, const Eigen::VectorXf &amp;vert_kernel, pcl::PointCloud&lt; float &gt; &amp;output) const</div><div class="ttdef"><b>Definition:</b> gaussian.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_a4ed8cb8b338735612d4e33a2f035aad9"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#a4ed8cb8b338735612d4e33a2f035aad9">pcl::GaussianKernel::smooth</a></div><div class="ttdeci">void smooth(const pcl::PointCloud&lt; PointT &gt; &amp;input, boost::function&lt; float(const PointT &amp;p)&gt; field_accessor, const Eigen::VectorXf &amp;gaussian_kernel, pcl::PointCloud&lt; float &gt; &amp;output) const</div><div class="ttdef"><b>Definition:</b> gaussian.h:254</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_a663729cdfd1e440563030e29215f128b"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#a663729cdfd1e440563030e29215f128b">pcl::GaussianKernel::compute</a></div><div class="ttdeci">void compute(float sigma, Eigen::VectorXf &amp;kernel, Eigen::VectorXf &amp;derivative, unsigned kernel_width=MAX_KERNEL_WIDTH) const</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_a969fb903ac4abd105fead44ed59cfb49"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#a969fb903ac4abd105fead44ed59cfb49">pcl::GaussianKernel::smooth</a></div><div class="ttdeci">void smooth(const pcl::PointCloud&lt; float &gt; &amp;input, const Eigen::VectorXf &amp;gaussian_kernel, pcl::PointCloud&lt; float &gt; &amp;output) const</div><div class="ttdef"><b>Definition:</b> gaussian.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_aabf2e68d86f1b5628a9976ac8a83ab47"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#aabf2e68d86f1b5628a9976ac8a83ab47">pcl::GaussianKernel::computeGradients</a></div><div class="ttdeci">void computeGradients(const pcl::PointCloud&lt; PointT &gt; &amp;input, boost::function&lt; float(const PointT &amp;p)&gt; field_accessor, const Eigen::VectorXf &amp;gaussian_kernel, const Eigen::VectorXf &amp;gaussian_kernel_derivative, pcl::PointCloud&lt; float &gt; &amp;grad_x, pcl::PointCloud&lt; float &gt; &amp;grad_y) const</div><div class="ttdef"><b>Definition:</b> gaussian.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_ad01d1002116c470278a9f4e4330eed6f"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#ad01d1002116c470278a9f4e4330eed6f">pcl::GaussianKernel::convolveRows</a></div><div class="ttdeci">void convolveRows(const pcl::PointCloud&lt; float &gt; &amp;input, const Eigen::VectorXf &amp;kernel, pcl::PointCloud&lt; float &gt; &amp;output) const</div></div>
<div class="ttc" id="aclasspcl_1_1_gaussian_kernel_html_ae9d18071f99654164697503aa823d081"><div class="ttname"><a href="classpcl_1_1_gaussian_kernel.html#ae9d18071f99654164697503aa823d081">pcl::GaussianKernel::computeGradients</a></div><div class="ttdeci">void computeGradients(const pcl::PointCloud&lt; float &gt; &amp;input, const Eigen::VectorXf &amp;gaussian_kernel, const Eigen::VectorXf &amp;gaussian_kernel_derivative, pcl::PointCloud&lt; float &gt; &amp;grad_x, pcl::PointCloud&lt; float &gt; &amp;grad_y) const</div><div class="ttdef"><b>Definition:</b> gaussian.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; float &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> kernel.h:46</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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